zr-v4/APMrover2/control_modes.pde

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

static void read_control_switch()
{
	
	byte switchPosition = readSwitch();
	
	// If switchPosition = 255 this indicates that the mode control channel input was out of range
	// If we get this value we do not want to change modes.
	if(switchPosition == 255) return;

    // we look for changes in the switch position. If the
    // RST_SWITCH_CH parameter is set, then it is a switch that can be
    // used to force re-reading of the control switch. This is useful
    // when returning to the previous mode after a failsafe or fence
    // breach. This channel is best used on a momentary switch (such
    // as a spring loaded trainer switch).
	if (oldSwitchPosition != switchPosition ||
        (g.reset_switch_chan != 0 && 
         APM_RC.InputCh(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {

		set_mode(flight_modes[switchPosition]);

		oldSwitchPosition = switchPosition;
		prev_WP = current_loc;

		// reset navigation integrators
		// -------------------------
		reset_I();

	}

}

static byte readSwitch(void){
	uint16_t pulsewidth = APM_RC.InputCh(g.flight_mode_channel - 1);
	if (pulsewidth <= 910 || pulsewidth >= 2090) 	return 255;	// This is an error condition
	if (pulsewidth > 1230 && pulsewidth <= 1360) 	return 1;
	if (pulsewidth > 1360 && pulsewidth <= 1490) 	return 2;
	if (pulsewidth > 1490 && pulsewidth <= 1620) 	return 3;
	if (pulsewidth > 1620 && pulsewidth <= 1749) 	return 4;	// Software Manual
	if (pulsewidth >= 1750) 						return 5;	// Hardware Manual
	return 0;
}

static void reset_control_switch()
{
	oldSwitchPosition = 0;
	read_control_switch();
}

#define CH_7_PWM_TRIGGER 1800

// read at 10 hz
// set this to your trainer switch
static void read_trim_switch()
{
if (g.ch7_option == CH7_SAVE_WP){         // set to 1
		if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){ // switch is engaged
			trim_flag = true;

		}else{ // switch is disengaged
			if(trim_flag){
				trim_flag = false;

				if(control_mode == MANUAL){          // if SW7 is ON in MANUAL = Erase the Flight Plan
					// reset the mission
					CH7_wp_index = 0;
					g.command_total.set_and_save(CH7_wp_index);
                                        g.command_total = 0;
                                        g.command_index =0;
                                        nav_command_index = 0;
                                        if(g.channel_roll.control_in > 3000) // if roll is full right store the current location as home
                                            ground_start_count = 5;
                                        #if X_PLANE == ENABLED
                                                Serial.printf_P(PSTR("*** RESET the FPL\n"));
                                        #endif
                                        CH7_wp_index = 1;                    
					return;
				} else if (control_mode == LEARNING) {    // if SW7 is ON in LEARNING = record the Wp                                 
        			   // set the next_WP (home is stored at 0)
        			   // max out at 100 since I think we need to stay under the EEPROM limit
        			   CH7_wp_index = constrain(CH7_wp_index, 1, 100);
        
    				  current_loc.id = MAV_CMD_NAV_WAYPOINT;  
    
                                  // store the index
                                  g.command_total.set_and_save(CH7_wp_index);
                                  g.command_total = CH7_wp_index;
                                  g.command_index = CH7_wp_index;
                                  nav_command_index = 0;
                                   
        			  // save command
        			  set_cmd_with_index(current_loc, CH7_wp_index);
                                                                             
                                  #if X_PLANE == ENABLED
                                     Serial.printf_P(PSTR("*** Store WP #%d\n"),CH7_wp_index);
                                  #endif 
                                  
                                    // increment index
    				   CH7_wp_index++; 

                                } else if (control_mode == AUTO) {    // if SW7 is ON in AUTO = set to RTL  
                                    set_mode(RTL);
                                }
                             }
			}
		} 
          else if (g.ch7_option == CH7_RTL){      // set to 6
		if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){ // switch is engaged
			trim_flag = true;

		}else{ // switch is disengaged
			if(trim_flag){
				trim_flag = false;
                                if (control_mode == LEARNING) {
                                    set_mode(RTL);
                                }
                               }
                }
          }
}

static void update_servo_switches()
{
#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM2

#if HIL_MODE != HIL_MODE_ATTITUDE   // JLN update
	if (!g.switch_enable) {
        // switches are disabled in EEPROM (see SWITCH_ENABLE option)
        // this means the EEPROM control of all channel reversal is enabled
		return;
	}
	// up is reverse
	// up is elevon
	g.mix_mode 		= (PINL & 128) ? 1 : 0; // 1 for elevon mode
	if (g.mix_mode == 0) {
		g.channel_roll.set_reverse((PINE & 128) ? true : false);
		g.channel_pitch.set_reverse((PINE & 64) ? true : false);
		g.channel_rudder.set_reverse((PINL & 64) ? true : false);
	} else {
		g.reverse_elevons 	= (PINE & 128) ? true : false;
		g.reverse_ch1_elevon = (PINE & 64) ? true : false;
		g.reverse_ch2_elevon = (PINL & 64) ? true : false;
	}
#else
	g.mix_mode = 0; // 1 for elevon mode     // setup for the the Predator MQ9 of AeroSim   - JLN update
	g.channel_roll.set_reverse(false);       // roll reversed
	g.channel_pitch.set_reverse(false);      // pitch normal
	g.channel_rudder.set_reverse(false);     // yaw normal
#endif
#endif
}